Joe... be warned. Majors mask reused assets from Ocarina of Time.
I know, believe me I've done my research. I'm just sayin', Majora's Mask has a superior soundtrack and also had to cross several hurdles.
But did you know that the Fierce Deity literally exists only for the sake of putting adult Link in the game?
What dose crossing hurdles have to do with anything? Every great game has to surpass multiple hurdles. If not in technology, then in execution. One of my favorite videos (that I don't remember the name of...) Is about halo combat evolved and a developer who worked on it back in the day. He talked about the development of the game, pushing the boundary's of technology. How there were these talks of halo killers before the game was even out.
The Zelda series in General is a very impressive series of games, and honestly one of Nintendo's only continuously successful game series with a cohesively complex narrative and story.
With that all said, Major's mask has a great soundtrack, something akin to that of Halo 3. Undertale on the other hand is groundbreaking for its music and is is a key factor that defines the game still to this day. Undertale is remembered for its music more then its story and the vise versa for Majors Mask.